etherlabmaster: comparison master/fsm.c

equal deleted inserted replaced

-:2ecaa53c6291
+:25cc4a3b9e0a
 /*****************************************************************************/
 void ec_fsm_master_start(ec_fsm_t *);
 void ec_fsm_master_broadcast(ec_fsm_t *);
 void ec_fsm_master_read_states(ec_fsm_t *);
+void ec_fsm_master_acknowledge(ec_fsm_t *);
 void ec_fsm_master_validate_vendor(ec_fsm_t *);
 void ec_fsm_master_validate_product(ec_fsm_t *);
 void ec_fsm_master_rewrite_addresses(ec_fsm_t *);
 void ec_fsm_master_configure_slave(ec_fsm_t *);
 void ec_fsm_master_scan_slaves(ec_fsm_t *);
 }
 }
 fsm->slave = slave;
 fsm->slave_state = ec_fsm_slaveconf_init;
-ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
+ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_INIT);
 fsm->master_state = ec_fsm_master_configure_slave;
 fsm->master_state(fsm); // execute immediately
 return;
 }
 EC_INFO("Slave %i: %s -> %s.\n",
 slave->ring_position, old_state, cur_state);
 slave->current_state = new_state;
 }
+// check, if new slave state has to be acknowledged
+if (slave->current_state & EC_SLAVE_STATE_ACK_ERR && !slave->error_flag) {
+ec_fsm_change_ack(&fsm->fsm_change, slave);
+ec_fsm_change_exec(&fsm->fsm_change);
+fsm->master_state = ec_fsm_master_acknowledge;
+return;
+}
+ec_fsm_master_action_next_slave_state(fsm);
+}
+/*****************************************************************************/
+/**
+Master state: ACKNOWLEDGE
+*/
+void ec_fsm_master_acknowledge(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_slave_t *slave = fsm->slave;
+if (ec_fsm_change_exec(&fsm->fsm_change)) return;
+if (!ec_fsm_change_success(&fsm->fsm_change)) {
+fsm->slave->error_flag = 1;
+EC_ERR("Failed to acknowledge state change on slave %i.\n",
+slave->ring_position);
+fsm->master_state = ec_fsm_master_error;
+return;
+}
 ec_fsm_master_action_next_slave_state(fsm);
 }
 /*****************************************************************************/
 return;
 }
 slave->current_state = EC_READ_U8(datagram->data);
 if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
-EC_WARN("Slave %i has state error bit set (0x%02X)!\n",
+char state_str[EC_STATE_STRING_SIZE];
-slave->ring_position, slave->current_state);
+ec_state_string(slave->current_state, state_str);
+EC_WARN("Slave %i has state error bit set (%s)!\n",
+slave->ring_position, state_str);
 }
 // read base data
 ec_datagram_nprd(datagram, fsm->slave->station_address, 0x0000, 6);
 ec_master_queue_datagram(fsm->master, datagram);
 //ec_slave_check_crc(slave);
 // TODO: Implement state machine for CRC checking.
 if (!slave->base_sync_count) { // no sync managers
 fsm->slave_state = ec_fsm_slaveconf_preop;
-ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
+ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 return;
 }
 if (master->debug_level) {
 slave->ring_position);
 return;
 }
 fsm->slave_state = ec_fsm_slaveconf_preop;
-ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
+ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_PREOP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 }
 /*****************************************************************************/
 }
 if (!slave->base_fmmu_count) { // skip FMMU configuration
 if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
 fsm->slave_state = ec_fsm_slaveconf_saveop;
-ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
+ec_fsm_change_start(&fsm->fsm_change, slave,
+EC_SLAVE_STATE_SAVEOP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 return;
 }
 // start SDO configuration
 // No CoE configuration to be applied? Jump to SAVEOP state.
 if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
 // set state to SAVEOP
 fsm->slave_state = ec_fsm_slaveconf_saveop;
-ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
+ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_SAVEOP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 return;
 }
 // start SDO configuration
 // All SDOs are now configured.
 // set state to SAVEOP
 fsm->slave_state = ec_fsm_slaveconf_saveop;
-ec_fsm_change(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
+ec_fsm_change_start(&fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_SAVEOP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 }
 /*****************************************************************************/
 return;
 }
 // set state to OP
 fsm->slave_state = ec_fsm_slaveconf_op;
-ec_fsm_change(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
+ec_fsm_change_start(&fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
 ec_fsm_change_exec(&fsm->fsm_change); // execute immediately
 }
 /*****************************************************************************/

changeset 454	25cc4a3b9e0a
parent 448	e4b76dc7910c
child 456	dea14706efc2